Optimal Coordination of Automated Vehicles at Intersections with Turns
Paper in proceeding, 2019

In this paper we address the problem of co- ordinating automated vehicles at intersections, with a spe- cial focus on turning maneuvers. The inclusion of rear-end collision avoidance constraints into the problem is decided during turning maneuvers by a smooth function of the vehicle state, rather than integer variables. Moreover, curvature-based acceleration constraints are introduced, which limit the velocity of the vehicle during the turn, and a term in the objective function accounts for passenger comfort. We discuss how the coordination problem is formulated as a nonlinear program and show though simulations that for practical problem instances the proposed approximation is either exact or introduces very little conservativeness.

Automated Vehicles

Intersection Coordination

Optimal Control


Robert Hult

Chalmers, Electrical Engineering, Systems and control

Mario Zanon

IMT School for Advanced Studies

Sébastien Gros

Chalmers, Electrical Engineering, Systems and control

Paolo Falcone

Chalmers, Electrical Engineering, Systems and control

2019 18th European Control Conference, ECC 2019

978-3-907144-00-8 (ISBN)

European Control Conference 2019
Naples, Italy,

Distribuerad koordinering av mobila nätverks system i okända miljöer

Swedish Research Council (VR) (2012-4038), 2013-01-01 -- 2016-01-01.

Areas of Advance


Subject Categories

Control Engineering





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